OpenRaiser/Intern-Atlas huggingface dataset:
An explainable framework for the relationship between dementia and glucose metabolism patterns
Venue: arXiv cs.LG 2026
Year: 2026

High-dimensional neuroimaging data presents challenges for assessing neurodegenerative diseases due to complex non-linear relationships. Variational Autoencoders (VAEs) can encode scans into lower-dimensional latent spaces capturing disease-relevant features. We propose a semi-supervised VAE framework with a flexible similarity regularization term that aligns selected latent variables with clinical or biomarker measures of dementia progression. This allows adapting the similarity metric and supervised variables to specific goals or available data. We demonstrate the approach using PET scans from the Alzheimer's Disease Neuroimaging Initiative (ADNI), guiding the first latent dimension to align with a cognitive score. Using this supervised latent variable, we generate average reconstructions across levels of cognitive impairment. Voxel-wise GLM analysis reveals reduced metabolism in key regions, mainly the hippocampus, and within major Resting State Networks, particularly the Default Mode and Central Executive Networks. The remaining latent variables encode affine transformations and intensity variations, capturing confounds such as inter-subject variability and site effects. Our framework effectively extracts disease-related patterns aligned with established Alzheimer's biomarkers, offering an interpretable and adaptable tool for studying neurodegenerative progression.
Latent Temporal Discrepancy as Motion Prior: A Loss-Weighting Strategy for Dynamic Fidelity in T2V
Venue: arXiv cs.CV 2026
Year: 2026

Video generation models have achieved notable progress in static scenarios, yet their performance in motion video generation remains limited, with quality degrading under drastic dynamic changes. This is due to noise disrupting temporal coherence and increasing the difficulty of learning dynamic regions. {Unfortunately, existing diffusion models rely on static loss for all scenarios, constraining their ability to capture complex dynamics.} To address this issue, we introduce Latent Temporal Discrepancy (LTD) as a motion prior to guide loss weighting. LTD measures frame-to-frame variation in the latent space, assigning larger penalties to regions with higher discrepancy while maintaining regular optimization for stable regions. This motion-aware strategy stabilizes training and enables the model to better reconstruct high-frequency dynamics. Extensive experiments on the general benchmark VBench and the motion-focused VMBench show consistent gains, with our method outperforming strong baselines by 3.31% on VBench and 3.58% on VMBench, achieving significant improvements in motion quality.
Context Tokens are Anchors: Understanding the Repetition Curse in dMLLMs from an Information Flow Perspective
Venue: arXiv cs.CV 2026
Year: 2026

Recent diffusion-based Multimodal Large Language Models (dMLLMs) suffer from high inference latency and therefore rely on caching techniques to accelerate decoding. However, the application of cache mechanisms often introduces undesirable repetitive text generation, a phenomenon we term the \textbf{Repeat Curse}. To better investigate underlying mechanism behind this issue, we analyze repetition generation through the lens of information flow. Our work reveals three key findings: (1) context tokens aggregate semantic information as anchors and guide the final predictions; (2) as information propagates across layers, the entropy of context tokens converges in deeper layers, reflecting the model's growing prediction certainty; (3) Repetition is typically linked to disruptions in the information flow of context tokens and to the inability of their entropy to converge in deeper layers. Based on these insights, we present \textbf{CoTA}, a plug-and-play method for mitigating repetition. CoTA enhances the attention of context tokens to preserve intrinsic information flow patterns, while introducing a penalty term to the confidence score during decoding to avoid outputs driven by uncertain context tokens. With extensive experiments, CoTA demonstrates significant effectiveness in alleviating repetition and achieves consistent performance improvements on general tasks. Code is available at https://github.com/ErikZ719/CoTA
A Practical Framework of Key Performance Indicators for Multi-Robot Lunar and Planetary Field Tests
Venue: arXiv cs.RO 2026
Year: 2026

Robotic prospecting for critical resources on the Moon, such as ilmenite, rare earth elements, and water ice, requires robust exploration methods given the diverse terrain and harsh environmental conditions. Although numerous analog field trials address these goals, comparing their results remains challenging because of differences in robot platforms and experimental setups. These missions typically assess performance using selected, scenario-specific engineering metrics that fail to establish a clear link between field performance and science-driven objectives. In this paper, we address this gap by deriving a structured framework of KPI from three realistic multi-robot lunar scenarios reflecting scientific objectives and operational constraints. Our framework emphasizes scenario-dependent priorities in efficiency, robustness, and precision, and is explicitly designed for practical applicability in field deployments. We validated the framework in a multi-robot field test and found it practical and easy to apply for efficiency- and robustness-related KPI, whereas precision-oriented KPI require reliable ground-truth data that is not always feasible to obtain in outdoor analog environments. Overall, we propose this framework as a common evaluation standard enabling consistent, goal-oriented comparison of multi-robot field trials and supporting systematic development of robotic systems for future planetary exploration.
Advancing Open-source World Models
Venue: arXiv cs.CV 2026
Year: 2026

We present LingBot-World, an open-sourced world simulator stemming from video generation. Positioned as a top-tier world model, LingBot-World offers the following features. (1) It maintains high fidelity and robust dynamics in a broad spectrum of environments, including realism, scientific contexts, cartoon styles, and beyond. (2) It enables a minute-level horizon while preserving contextual consistency over time, which is also known as "long-term memory". (3) It supports real-time interactivity, achieving a latency of under 1 second when producing 16 frames per second. We provide public access to the code and model in an effort to narrow the divide between open-source and closed-source technologies. We believe our release will empower the community with practical applications across areas like content creation, gaming, and robot learning.
Reinforcement Unlearning via Group Relative Policy Optimization
Venue: arXiv cs.LG 2026
Year: 2026

During pretraining, LLMs inadvertently memorize sensitive or copyrighted data, posing significant compliance challenges under legal frameworks like the GDPR and the EU AI Act. Fulfilling these mandates demands techniques that can remove information from a deployed model without retraining from scratch. Existing unlearning approaches attempt to address this need, but often leak the very data they aim to erase, sacrifice fluency and robustness, or depend on costly external reward models. We introduce PURGE (Policy Unlearning through Relative Group Erasure), a novel method grounded in the Group Relative Policy Optimization framework that formulates unlearning as a verifiable problem. PURGE uses an intrinsic reward signal that penalizes any mention of forbidden concepts, allowing safe and consistent unlearning. Our approach achieves up to x46 lower token usage per target than state-of-the-art methods, while improving fluency by +5.48% and adversarial robustness by +12.02% over the base model. Extensive evaluation on the Real World Knowledge Unlearning (RWKU) benchmark shows that PURGE reaches 11% unlearning effectiveness while preserving 98% of original utility. PURGE shows that framing LLM unlearning as a verifiable task enables more reliable, efficient, and scalable forgetting, suggesting a promising new direction for unlearning research that combines theoretical guarantees, improved safety, and practical deployment efficiency.
MeCo: Enhancing LLM-Empowered Multi-Robot Collaboration via Similar Task Memoization
Venue: arXiv cs.RO 2026
Year: 2026

Multi-robot systems have been widely deployed in real-world applications, providing significant improvements in efficiency and reductions in labor costs. However, most existing multi-robot collaboration methods rely on extensive task-specific training, which limits their adaptability to new or diverse scenarios. Recent research leverages the language understanding and reasoning capabilities of large language models (LLMs) to enable more flexible collaboration without specialized training. Yet, current LLM-empowered approaches remain inefficient: when confronted with identical or similar tasks, they must replan from scratch because they omit task-level similarities. To address this limitation, we propose MeCo, a similarity-aware multi-robot collaboration framework that applies the principle of ``cache and reuse'' (a.k.a., memoization) to reduce redundant computation. Unlike simple task repetition, identifying and reusing solutions for similar but not identical tasks is far more challenging, particularly in multi-robot settings. To this end, MeCo introduces a new similarity testing method that retrieves previously solved tasks with high relevance, enabling effective plan reuse without re-invoking LLMs. Furthermore, we present MeCoBench, the first benchmark designed to evaluate performance on similar-task collaboration scenarios. Experimental results show that MeCo substantially reduces planning costs and improves success rates compared with state-of-the-art approaches.
Energy Efficient Downlink mMIMO Using Dynamic Antenna and Power Adaptation
Venue: arXiv cs.IT 2026
Year: 2026

Massive multiple-input multiple-output (mMIMO) technology and its future evolutions are expected to address the high data rate demands of sixth generation (6G) communication systems. At the same time, network energy savings (NES) is essential in reducing the operational costs and meeting the sustainability goals of network operators. In this regard, we propose a dynamic scheme for joint antenna and power adaptation to improve NES from a user scheduling and resource allocation perspective. Antenna adaptation is performed using the multiple channel state information resource signal (CSI-RS) framework. Furthermore, the recently introduced transmit power-aware link adaptation scheme, referred to as POLITE for short, is used as the power adaptation technique. The proposed scheme adapts to variations in users' instantaneous traffic and channel conditions to opportunistically maximize NES while also inherently accounting for the user throughput. Numerical simulation results show that the proposed scheme consistently achieves a balance between NES and user perceived throughput (UPT) for different network load conditions. Especially in low and light load conditions, the proposed scheme significantly improves the intra-cell interference and boosts the overall NES, while ensuring that UPT is unaffected.
A Computational Approach to Language Contact -- A Case Study of Persian
Venue: arXiv cs.CL 2026
Year: 2026

We investigate structural traces of language contact in the intermediate representations of a monolingual language model. Focusing on Persian (Farsi) as a historically contact-rich language, we probe the representations of a Persian-trained model when exposed to languages with varying degrees and types of contact with Persian. Our methodology quantifies the amount of linguistic information encoded in intermediate representations and assesses how this information is distributed across model components for different morphosyntactic features. The results show that universal syntactic information is largely insensitive to historical contact, whereas morphological features such as Case and Gender are strongly shaped by language-specific structure, suggesting that contact effects in monolingual language models are selective and structurally constrained.
Person Re-ID in 2025: Supervised, Self-Supervised, and Language-Aligned. What Works?
Venue: arXiv cs.CV 2026
Year: 2026

Person Re-Identification (ReID) remains a challenging problem in computer vision. This work reviews various training paradigm and evaluates the robustness of state-of-the-art ReID models in cross-domain applications and examines the role of foundation models in improving generalization through richer, more transferable visual representations. We compare three training paradigms, supervised, self-supervised, and language-aligned models. Through the study the aim is to answer the following questions: Can supervised models generalize in cross-domain scenarios? How does foundation models like SigLIP2 perform for the ReID tasks? What are the weaknesses of current supervised and foundational models for ReID? We have conducted the analysis across 11 models and 9 datasets. Our results show a clear split: supervised models dominate their training domain but crumble on cross-domain data. Language-aligned models, however, show surprising robustness cross-domain for ReID tasks, even though they are not explicitly trained to do so. Code and data available at: https://github.com/moiiai-tech/object-reid-benchmark.
Regularized Gradient Temporal-Difference Learning
Venue: arXiv cs.LG 2026
Year: 2026

Gradient temporal-difference (GTD) learning algorithms are widely used for off-policy policy evaluation with function approximation. However, existing convergence analyses rely on the restrictive assumption that the so-called feature interaction matrix (FIM) is nonsingular. In practice, the FIM can become singular and leads to instability or degraded performance. In this paper, we propose a regularized optimization objective by reformulating the mean-square projected Bellman error (MSPBE) minimization. This formulation naturally yields a regularized GTD algorithms, referred to as R-GTD, which guarantees convergence to a unique solution even when the FIM is singular. We establish theoretical convergence guarantees and explicit error bounds for the proposed method, and validate its effectiveness through empirical experiments.
SketchDynamics: Exploring Free-Form Sketches for Dynamic Intent Expression in Animation Generation
Venue: arXiv cs.HC 2026
Year: 2026

Sketching provides an intuitive way to convey dynamic intent in animation authoring (i.e., how elements change over time and space), making it a natural medium for automatic content creation. Yet existing approaches often constrain sketches to fixed command tokens or predefined visual forms, overlooking their freeform nature and the central role of humans in shaping intention. To address this, we introduce an interaction paradigm where users convey dynamic intent to a vision-language model via free-form sketching, instantiated here in a sketch storyboard to motion graphics workflow. We implement an interface and improve it through a three-stage study with 24 participants. The study shows how sketches convey motion with minimal input, how their inherent ambiguity requires users to be involved for clarification, and how sketches can visually guide video refinement. Our findings reveal the potential of sketch and AI interaction to bridge the gap between intention and outcome, and demonstrate its applicability to 3D animation and video generation.
Investigating the Development of Task-Oriented Communication in Vision-Language Models
Venue: arXiv cs.AI 2026
Year: 2026

We investigate whether \emph{LLM-based agents} can develop task-oriented communication protocols that differ from standard natural language in collaborative reasoning tasks. Our focus is on two core properties such task-oriented protocols may exhibit: Efficiency -- conveying task-relevant information more concisely than natural language, and Covertness -- becoming difficult for external observers to interpret, raising concerns about transparency and control. To investigate these aspects, we use a referential-game framework in which vision-language model (VLM) agents communicate, providing a controlled, measurable setting for evaluating language variants. Experiments show that VLMs can develop effective, task-adapted communication patterns. At the same time, they can develop covert protocols that are difficult for humans and external agents to interpret. We also observe spontaneous coordination between similar models without explicitly shared protocols. These findings highlight both the potential and the risks of task-oriented communication, and position referential games as a valuable testbed for future work in this area.
Lila: Decentralized Build Reproducibility Monitoring for the Functional Package Management Model
Venue: arXiv cs.SE 2026
Year: 2026

Ensuring the integrity of software build artifacts is an increasingly important concern for modern software engineering, driven by increasingly sophisticated attacks on build systems, distribution channels, and development infrastructures. Reproducible builds $\unicode{x2013}$ where binaries built independently from the same source code can be verified to be bit-for-bit identical to the distributed artifacts $\unicode{x2013}$ provide a principled foundation for transparency and trust in software distribution. Despite their potential, the large-scale adoption of reproducible builds faces two significant challenges: achieving high reproducibility rates across vast software collections and establishing reproducibility monitoring infrastructure that can operate at very large scale. While recent studies have shown that high reproducibility rates are achievable at scale $\unicode{x2013}$ demonstrated by the Nix ecosystem achieving over 90% reproducibility on more than 80,000 packages $\unicode{x2013}$ the problem of effective reproducibility monitoring remains largely unsolved. In this work, we address the reproducibility monitoring challenge by introducing Lila, a decentralized system for reproducibility assessment tailored to the functional package management model. Lila enables distributed reporting of build results and aggregation into a reproducibility database, benefiting both practitioners and future empirical build reproducibility studies.
A Multi-Camera Optical Tag Neuronavigation and AR Augmentation Framework for Non-Invasive Brain Stimulation
Venue: arXiv cs.HC 2026
Year: 2026

Accurate neuronavigation is essential for generating the intended effect with transcranial magnetic stimulation (TMS). Precise coil placement also directly influences stimulation efficacy. Traditional neuronavigation systems often rely on costly and still hard to use and error-prone tracking systems. To solve these limitations, we present a computer-vision-based neuronavigation system for real-time tracking of patient and TMS instrumentation. The system can feed the necessary data for a digital twin to track TMS stimulation targets. We integrate a self-coordinating optical tracking system with multiple consumer-grade cameras and visible tags with a dynamic 3D brain model in Unity. This model updates in real time to represent the current stimulation coil position and the estimated stimulation point to intuitively visualize neural targets for clinicians. We incorporate an augmented reality (AR) module to bridge the gap between the visualization of the digital twin and the real world and project the brain model in real-time onto the head of a patient. AR headsets or mobile AR devices allow clinicians to interactively view and adjust the placement of the stimulation transducer intuitively instead of guidance through abstract numbers and 6D cross hairs on an external screen. The proposed technique provides improved spatial precision as well as accuracy. A case study with ten participants with a medical background also demonstrates that the system has high usability.
GPO: Growing Policy Optimization for Legged Robot Locomotion and Whole-Body Control
Venue: arXiv cs.RO 2026
Year: 2026

Training reinforcement learning (RL) policies for legged robots remains challenging due to high-dimensional continuous actions, hardware constraints, and limited exploration. Existing methods for locomotion and whole-body control work well for position-based control with environment-specific heuristics (e.g., reward shaping, curriculum design, and manual initialization), but are less effective for torque-based control, where sufficiently exploring the action space and obtaining informative gradient signals for training is significantly more difficult. We introduce Growing Policy Optimization (GPO), a training framework that applies a time-varying action transformation to restrict the effective action space in the early stage, thereby encouraging more effective data collection and policy learning, and then progressively expands it to enhance exploration and achieve higher expected return. We prove that this transformation preserves the PPO update rule and introduces only bounded, vanishing gradient distortion, thereby ensuring stable training. We evaluate GPO on both quadruped and hexapod robots, including zero-shot deployment of simulation-trained policies on hardware. Policies trained with GPO consistently achieve better performance. These results suggest that GPO provides a general, environment-agnostic optimization framework for learning legged locomotion.
Polite But Boring? Trade-offs Between Engagement and Psychological Reactance to Chatbot Feedback Styles
Venue: arXiv cs.HC 2026
Year: 2026

As conversational agents become increasingly common in behaviour change interventions, understanding optimal feedback delivery mechanisms becomes increasingly important. However, choosing a style that both lessens psychological reactance (perceived threats to freedom) while simultaneously eliciting feelings of surprise and engagement represents a complex design problem. We explored how three different feedback styles: 'Direct', 'Politeness', and 'Verbal Leakage' (slips or disfluencies to reveal a desired behaviour) affect user perceptions and behavioural intentions. Matching expectations from literature, the 'Direct' chatbot led to lower behavioural intentions and higher reactance, while the 'Politeness' chatbot evoked higher behavioural intentions and lower reactance. However, 'Politeness' was also seen as unsurprising and unengaging by participants. In contrast, 'Verbal Leakage' evoked reactance, yet also elicited higher feelings of surprise, engagement, and humour. These findings highlight that effective feedback requires navigating trade-offs between user reactance and engagement, with novel approaches such as 'Verbal Leakage' offering promising alternative design opportunities.